CyberX8/CyberX8_RT/Modules/SRD/SRDInitializeHomeRoutine.cs

using Aitex.Core.RT.Routine;
using CyberX8_Core;
using CyberX8_RT.Modules.Transporter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.SRD
{
    public class SRDInitializeHomeRoutine : RoutineBase, IRoutine
    {
        private enum InitializeStep
        {
            Initialize,
            InitializeWait,
            SwitchOn,
            SwitchOnWait,
            Home,
            HomeWait,
            End
        }
        #region 内部变量
        private SRDInitializeRoutine _initializeRoutine;
        private SRDSwitchOnRoutine _switchOnRoutine;
        private SRDHomeRoutine _homeRoutine;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public SRDInitializeHomeRoutine(string module) : base(module)
        {
            _initializeRoutine = new SRDInitializeRoutine(module);
            _switchOnRoutine = new SRDSwitchOnRoutine(module);
            _homeRoutine = new SRDHomeRoutine(module);
        }

        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(InitializeStep.Initialize, () => _initializeRoutine.Start() == RState.Running, _delay_1ms)
                .WaitWithStopCondition(InitializeStep.InitializeWait, () => CommonFunction.CheckRoutineEndState(_initializeRoutine), () => CommonFunction.CheckRoutineStopState(_initializeRoutine))
                .Run(InitializeStep.SwitchOn, () => _switchOnRoutine.Start() == RState.Running, _delay_1ms)
                .WaitWithStopCondition(InitializeStep.SwitchOnWait, () => CommonFunction.CheckRoutineEndState(_switchOnRoutine), () => CommonFunction.CheckRoutineStopState(_switchOnRoutine))
                .Run(InitializeStep.Home, () => _homeRoutine.Start() == RState.Running, _delay_1ms)
                .WaitWithStopCondition(InitializeStep.HomeWait, () => CommonFunction.CheckRoutineEndState(_homeRoutine), () => CommonFunction.CheckRoutineStopState(_homeRoutine))
                .End(InitializeStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            return Runner.Start(Module, "Start Initialize Home");
        }
    }
}